CN207539531U - A kind of pipe robot detection device - Google Patents
A kind of pipe robot detection device Download PDFInfo
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- CN207539531U CN207539531U CN201721527596.6U CN201721527596U CN207539531U CN 207539531 U CN207539531 U CN 207539531U CN 201721527596 U CN201721527596 U CN 201721527596U CN 207539531 U CN207539531 U CN 207539531U
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- detection device
- rotatable bracket
- pipe robot
- robot detection
- pipeline
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Abstract
The utility model discloses a kind of pipe robot detection device, including body, further includes：At least one set of Rotatable bracket on body, can turn to the first predetermined angle；Device is detected, on Rotatable bracket, for detecting whether pipeline breaks down；Angular transducer is arranged on the inside of Rotatable bracket, for detecting the current angular of Rotatable bracket rotation.The utility model is rotated by Rotatable bracket, recycle the detection device set on Rotatable bracket that can expand detection range so that detection device can be accurately detected the detailed failure occurred in pipeline, improve fault detection accuracy, convenient for artificial timely pipe-repairing, it is ensured that pipe safety is run.
Description
Technical field
The utility model is related to pipeline robot technique fields, and in particular to a kind of pipe robot detection device.
Background technology
With the fast development of society, infrastructure construction is promoted to be also rapidly developing, is laid with therewith in various buildings
Various pipelines it is also more and more because pipeline has the characteristics that closure, transport with pressure, thus pipeline is transporting for a long time
In the process, dirt will be accumulated in the pipeline, and duct wall can also be damaged thinning or even partial fracture, these all restrict pipe
The development of road transport, this is increasingly becoming the difficult point of repair and maintenance.So must not mismatch pipe robot carries out periodic inspection,
Pipe robot is that one kind can be along automatically walk inside or outside small sized pipeline and the one or more sensors of carrying and operation machine
Tool under the straighforward operation of staff or computer controlled automatic, carries out a series of pipeline operations.
At present, detection device is generally fixed at the robot of pipeline by traditional pipe robot detection device
It is detected on fuselage.Such as：A kind of intelligence for pipe detection disclosed in Chinese patent literature CN206504116U
Detection device, including：Housing, the top of housing are equipped with sphere, are internally provided with detection control apparatus, and lower part is equipped with pulley, sphere
Around be equipped with window, be equipped in detection control apparatus one group of camera shooting mechanism, alarm mechanism, image compare mechanism, identification mechanism,
Drive control mechanism and control mechanism, camera shooting mechanism, alarm mechanism, image compare mechanism, identification mechanism and drive control machine
Structure is connect with control mechanism；Driving device is equipped in drive control mechanism and for driving device speed adjusting device.Due to
In the detection control apparatus of enclosure interior that camera shooting mechanism is arranged on the detection device, and housing and detection control apparatus are solid
Fixed setting, so camera shooting mechanism can not be stretched over certain position and carry out large area acquisition image data, so being arranged in housing
The sight of the camera shooting mechanism shooting figure picture in portion is limited, can not increase image pickup scope, detection range is caused to narrow, lead to pipeline machine
People can not accurately detect the detailed operation conditions of pipeline.
Utility model content
Therefore, the utility model embodiment technical problems to be solved are that detection device of the prior art is generally set
On the fuselage of pipe robot, since fuselage is fixedly installed, causes detection device detection range limited, lead to pipe robot
The detailed operation conditions of pipeline can not accurately be detected.
For this purpose, the utility model embodiment provides following technical solution：
The utility model embodiment provides a kind of pipe robot detection device, including body, further includes：
At least one set of Rotatable bracket on the body, can turn to the first predetermined angle；
Device is detected, on the Rotatable bracket, for detecting whether the pipeline breaks down；
Angular transducer is arranged on the inside of the Rotatable bracket, for detecting working as the Rotatable bracket rotation
Preceding angle.
Optionally, the Rotatable bracket includes push rod and support strut；Sliding slot is provided on the support strut, it is described
Push rod slides in the sliding slot of the Rotatable bracket so that the support strut rotates, described in the angular transducer detection
Support the current angular of strut rotation.
Optionally, the Rotatable bracket is three groups, and Rotatable bracket is uniformly pacified according to the second predetermined angle described in every group
On the body.
Optionally, the detection device includes laser scanning device and ultrasound examination device.
Optionally, the body is made of two coaxial hollow cylinder sockets, in described two coaxial hollow cylinders
Between set wired signal transmission line.
Optionally, the Rotatable bracket is penetrated through by hole and the body, and the Rotatable bracket is by being arranged on
The pneumatic element at hole is stated to be shunk and expanded respectively.
Optionally, the pipe robot detection device, further includes：Pressure chamber and power propeller；The pressure chamber with
The Powered Propulsion device connection, the pressure chamber are connect by piston with the pneumatic element.
Optionally, pressure sensor is set in the pressure chamber, described can turns for detecting the pressure chamber and being supplied to
The pressure of dynamic stent.
Optionally, the Powered Propulsion device includes：Propeller and motor.
Optionally, multiple shifting rollers are set on the body, for being moved in the pipeline.
The utility model embodiment technical solution, has the following advantages that：
A kind of pipe robot detection device of this offer, including body, further includes：At least one set of Rotatable bracket, installation
On body, the first predetermined angle can be turned to；Device is detected, on Rotatable bracket, for whether detecting pipeline
It breaks down；Angular transducer is arranged on the inside of Rotatable bracket, for detecting the current angular of Rotatable bracket rotation.
The utility model is rotated by Rotatable bracket, recycles the detection device set on Rotatable bracket that can expand detection model
It encloses so that the detailed failure occurred in pipeline can be accurately detected by detecting device, improve fault detection accuracy, convenient for artificial timely
Pipe-repairing, it is ensured that pipe safety is run.
Description of the drawings
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution of the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be the utility model some embodiments, for those of ordinary skill in the art, do not paying creativeness
Under the premise of labour, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is the structure diagram of pipe robot detection device in the utility model embodiment 1；
Fig. 2 is the structure diagram of pipe robot detection device in the utility model embodiment 1；
Fig. 3 is the structure diagram of the Powered Propulsion device of pipe robot detection device in the utility model embodiment 1；
Fig. 4 is the flow chart of pipeline fault detection method in the utility model embodiment 3.
Reference numeral：
1- bodies；11- Rotatable brackets；The first reducing supports of 111-；The second reducing supports of 112-；
12- detects device；121- laser scanning devices；122- ultrasound examination devices；
13- angular transducers；14- fixed hinges；15- articulated slabs；16- pressure chambers；
17- Powered Propulsion devices；171- propellers；172- motors；18- shifting rollers.
Specific embodiment
The technical solution of the utility model embodiment is clearly and completely described below in conjunction with attached drawing, it is clear that institute
The embodiment of description is the utility model part of the embodiment, instead of all the embodiments.Based on the reality in the utility model
Apply example, those of ordinary skill in the art's all other embodiments obtained without making creative work all belong to
In the range of the utility model protection.
In the description of the utility model embodiment, it should be noted that term " " center ", " on ", " under ", " left side ",
The orientation or position relationship of the instructions such as " right side ", " vertical ", " level ", " interior ", " outer " are based on orientation shown in the drawings or position
Relationship, be for only for ease of description the utility model embodiment and simplify description rather than instruction or imply signified device or
Element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limit to the utility model
System.In addition, term " first ", " second ", " third " are only used for description purpose, and it is not intended that instruction or implying relatively important
Property.
In the description of the utility model embodiment, it should be noted that unless otherwise clearly defined and limited, term
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or one
Connect to body；Can be mechanical connection or electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can also be the connection inside two elements, can be wireless connection or wired connection.For this field
For those of ordinary skill, concrete meaning of the above-mentioned term in the utility model can be understood with concrete condition.
In addition, as long as technical characteristic involved in the utility model different embodiments disclosed below is each other
Not forming conflict can be combined with each other.
Embodiment 1
The utility model embodiment provides a kind of pipe robot detection device, as shown in Figure 1, including body 1, including：
At least one set of Rotatable bracket 11 on body 1, can turn to the first predetermined angle；Device 12 is detected, mounted on can
On swinging mounting 11, for detecting whether pipeline breaks down；Angular transducer 13 is arranged on the inside of Rotatable bracket 11,
For detecting the current angular of the rotation of Rotatable bracket 11.
Specifically, as shown in Fig. 2, Rotatable bracket 11 includes the first reducing support 111 and the second reducing support 112,
In the first reducing support 111 be connected by fixed hinge 14 with body 1, the first reducing support 111 is located at the forepart of body 1,
Second reducing support 112 is connected by articulated slab 15 with body 1, and the second reducing support 112 is located at the middle part of body 1,
Supporting plate is additionally provided on two reducing supports 112.In the inside of the first reducing support 111 and the second reducing support 112, angle is all set
Degree sensor 13 detects the current angular of its rotation respectively, and the first reducing support 111 and the second reducing support 112 are pneumatic type
Organization of human body, when the pipe robot detection device in the present embodiment is worked, the first reducing support 111 and second
Reducing support 112 can turn to the first predetermined angle by expansion, when pipe robot detection device does not need to be worked,
First reducing support 111 and the second reducing support 112 can be shunk, and be fitted on body 1.First reducing support 111 and
Two reducing supports 112 are mainly used for maintain a certain distance with inner wall of the pipe by reducing in the duct in body 1.Herein
First predetermined angle is that the proper angle that can be detected failure is pre-set out according to different application scenarios.
Specifically, detection device 12 includes laser scanning device 121 and ultrasound examination device 122.Wherein laser scanning
Device 121 is laser inductor, on the first reducing support 111, for detecting in caliber with the presence or absence of damaged, surface corrosion
And gross distortion；Ultrasound examination device 122 is ultrasonic sensor, on the supporting plate of the second reducing support 112, for examining
Test tube diameter crack defect.
Pipe robot detection device in the present embodiment, leads to when turning to the first predetermined angle by Rotatable bracket 11
It crosses the detection device 12 set thereon and can detect that detailed failure inside pipeline, and then enhance accuracy of detection.
As a kind of optional realization method, the pipe robot detection device in the utility model embodiment, rotatably
Stent 11 includes push rod and support strut；Sliding slot is provided on support strut, push rod slides in the sliding slot of Rotatable bracket 11,
So that support strut rotation, the current angular of the detection support strut rotation of angular transducer 13.The first of Rotatable bracket 11
The inside of 111 and second reducing support 112 of reducing support all sets push rod and support strut, the first reducing support 111 and second
Angular transducer 13 inside reducing support 112 detect its current angular for supporting strut rotation can be support strut relative to
The current angular of push rod rotation is current angular of the support strut relative to body rotation 1.It is examined by angular transducer 13
The rotational angle of support strut is measured convenient for adjusting Rotatable bracket 11, that is, adjusts the first reducing support 111 and the second reducing branch
Frame 112 turns to the first predetermined angle.
As a kind of optional realization method, the pipe robot detection device in the utility model embodiment, rotatably
Stent 11 is three groups, and every group of Rotatable bracket 11 is located at according to the first predetermined angle on body.Such as：Second predetermined angle is
120 degree, according to 120 degree of the second predetermined angle around body 1 on be uniformly arranged three groups of Rotatable brackets 11 respectively, setting is more
The swinging mounting 11 of group, the detection device 12 set thereon can more be accurately detected the failure in pipeline, so as to improve detection
Efficiency.
As a kind of optional realization method, the pipe robot detection device in the utility model embodiment, body 1 by
Two coaxial hollow cylinder socket compositions, set wired signal transmission line between two coaxial hollow cylinders.Signal passes
It is defeated to be transmitted by wired signal transmission line, it avoids signal shielding in wireless transmission, be distorted the defects of transmission.
As a kind of optional realization method, the pipe robot detection device in the utility model embodiment, rotatably
Stent 1 is penetrated through by hole and body 1, and Rotatable bracket 1 is shunk and expanded respectively by being arranged on the pneumatic element at hole.
Specifically, because the first reducing support 111 and the second reducing support 112 are pneumatic type human body mechanism, first
11 and second reducing support of reducing support is penetrated through, and then the two is all received by the pneumatic element at hole by hole and body 1
Contracting and expansion.The purpose of contraction is in order to which the first swinging mounting 11 and the second swinging mounting 13 can be fitted in machine when it does not work
On body 1, space is reduced, the purpose of expansion is in order to which the first swinging mounting 11 and the second swinging mounting 13 turn to the first preset angle
Degree may be such that the detection device 12 set thereon can expand detection range, enhance fault detect effect, and the moment ensures and pipe
Road inner wall keeps certain distance,.
As a kind of optional realization method, the pipe robot detection device in the utility model embodiment, such as Fig. 2 institutes
Show, further include：Pressure chamber 16 and Powered Propulsion device 17；Pressure chamber 16 is connect with Powered Propulsion device 17, and pressure chamber 16 passes through
Piston is connect with pneumatic element.
Specifically, pressure chamber 16 is arranged on body 1, for providing expansion power, as first for Rotatable bracket 11
11 and second reducing support 12 of reducing support provides expansion power so that the first reducing support 11 and the second reducing support 12 are formed
Pneumatic type organization of human body.The pressure of pressure chamber 16 is provided by the Powered Propulsion device 17 for being arranged on 1 tail portion of body.As shown in figure 3,
Wherein Powered Propulsion device 17 includes propeller 171 and motor 172, the work of 171 rotational drive motor of propeller, and then is pressure
Cabin 16 provides power, and internal pressure is driven the first reducing support 111 and the second reducing branch by pressure chamber 16 by piston motion
Frame 112 can be expanded, then the detection of angular transducer 13 first inside the first reducing support 11 and the second reducing support 12
The current angular of strut rotation is supported in 11 and second reducing support 12 of reducing support, support branch is finally adjusted according to current angular
Bar turns to the first predetermined angle.
As a kind of optional realization method, the pipe robot detection device in the utility model embodiment, in pressure
Pressure sensor is set in cabin 16, for detecting the pressure that pressure chamber 16 is supplied to Rotatable bracket 11.I.e. pressure sensor is examined
Measuring pressure cabin 16 is supplied to the pressure of the first reducing support 11 and the second reducing support 12, it is ensured that pressure chamber 16 is input to the first change
Pressure controllable in 11 and second reducing support 13 of diameter stent.
As a kind of optional realization method, the pipe robot detection device in the utility model embodiment, in body 1
The upper multiple shifting rollers 18 of setting, for being moved in the duct.Specifically, multiple shifting rollers 18 are arranged on body 1
Bottom can be moved forward or rearward.
Embodiment 2
The pipe robot detection device that the utility model embodiment provides, the utility model embodiment provide a kind of pipeline
Robot detection device, as depicted in figs. 1 and 2, including body 1, including：At least one set of Rotatable bracket 11, mounted on body 1
On, the first predetermined angle can be turned to；Device 12 is detected, on Rotatable bracket 11, for detecting whether pipeline is sent out
Raw failure；Angular transducer 13 is arranged on the inside of Rotatable bracket 11, for detect Rotatable bracket 11 rotation work as anterior angle
Degree.The control panel for being arranged on pipeline external is further included, is provided with control circuit on the control panel, respectively with detecting device 12
It is connected with angular transducer 13.
Specifically, control circuit is connect by being arranged on the wired signal transmission line inside body 1 with angular transducer 13.
Control circuit includes the input of motor servo driver, data acquisition chip and data processing chip, wherein data acquisition chip
End is connect with detection device 12, and the output terminal of data acquisition chip is connect with data processing chip, and data processing chip is with watching
Motor driver connection is taken, motor servo driver is connect with being arranged on the Powered Propulsion device 17 of 1 tail portion of body, Powered Propulsion
Device 17 is connect with the pressure chamber 16 being arranged on body 1.
When the pipe robot detection device in the present embodiment enters air-liquid pipeline, control circuit obtains rotatable branch
The current angular that frame 11 rotates would know that body 1 is located at the position of pipeline, because current angular can be according to current angular
Rotatable bracket 11 is managed relative to the current angular of body 1 so can calculate body 1 according to current angular control circuit and be located at
The position in road is located on the current location of pipeline in the body 1 and carries out fault detect, then according to the current of Rotatable bracket 11
Angular adjustment swinging mounting 11 turns to the first predetermined angle, and detection device 12 changes inspection by the rotation of Rotatable bracket 11
Location postpones, and expands detection range, therefore can improve accuracy of detection.Last Rotatable bracket 11 provides pressure in pressure chamber 16
Under the action of, inflation so that detection device 12 and the duct wall set on Rotatable bracket 11 maintains a certain distance, inspection
The operating mode in test tube road, and signal is transmitted to control circuit by being arranged on the wired signal transmission line inside body 1 in real time, it controls
Circuit processed is handled according to the fault-signal of acquisition, obtains fault message.Detection device 12 can be detected the first kind respectively
Failure and the second class failure, wherein first kind failure are existing broken in the caliber being detected by laser scanning device 121
Damage, surface corrosion and gross distortion, the second class failure are to be detected caliber crack defect by ultrasound examination device 122.
Artificial pipe-repairing in time is convenient for by the above-mentioned first kind failure detected and the second class failure, ensures that pipe safety is run.
Embodiment 3
The utility model embodiment provides a kind of pipeline fault detection method, for the pipeline in embodiment 1 and embodiment 2
Robot detection device, as shown in figure 4, including the following steps：
S41, the current angular for obtaining Rotatable bracket rotation.Current angular can be Rotatable bracket relative to body
Angle would know that body is located at the position of pipeline according to current angular, and fault detect is carried out for the position.
S42, according to current angular, adjust Rotatable bracket and turn to the first predetermined angle.The first predetermined angle herein
The proper angle of fault detect is carried out to pre-set, be used as adjusting Rotatable bracket by first predetermined angle works as anterior angle
The reference value of degree.
Whether S43, control detector part detection pipeline break down.When the current angular of Rotatable bracket turns to first
After predetermined angle, you can swinging mounting inflation has arrived suitable position, it is possible to which control detector part carries out event to pipeline
Barrier detection.
S44, when pipeline breaks down, obtain fault message.It detects that failure has occurred in pipeline when detecting device, controls
Circuit obtains the corresponding detailed trouble information of the fault-signal for fault-signal, which includes fault type and failure
Location information is repaired in time convenient for artificial, so that it is guaranteed that pipe safety is run.
When pipeline does not break down, control Rotatable bracket turns to initial angle.Initial angle is rotatable branch
The original angle being fitted on body of frame, i.e., when pipeline does not have in the event of failure, Rotatable bracket can restore to the original state without work, subtract
Few certain space.
Obviously, the above embodiments are merely examples for clarifying the description, and is not intended to limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And the obvious variation thus extended out or
Among the protection domain that variation is created still in the utility model.
Claims (10)
1. a kind of pipe robot detection device, including body, which is characterized in that further include：
At least one set of Rotatable bracket on the body, can turn to the first predetermined angle；
Device is detected, on the Rotatable bracket, for detecting whether the pipeline breaks down；
Angular transducer is arranged on the inside of the Rotatable bracket, works as anterior angle for detect Rotatable bracket rotation
Degree.
2. pipe robot detection device according to claim 1, which is characterized in that the Rotatable bracket includes push rod
With support strut；
Sliding slot is provided on the support strut, the push rod slides in the sliding slot of the Rotatable bracket so that the branch
Support strut rotation, the current angular of the angular transducer detection support strut rotation.
3. pipe robot detection device according to claim 1, which is characterized in that the Rotatable bracket is three groups,
Rotatable bracket described in every group is uniformly mounted on the body according to the second predetermined angle.
4. pipe robot detection device according to claim 1, which is characterized in that the detection device is swept including laser
Retouch device and ultrasound examination device.
5. pipe robot detection device according to claim 1, which is characterized in that the body is by two coaxial hollows
Cylinder socket composition, sets wired signal transmission line between described two coaxial hollow cylinders.
6. pipe robot detection device according to claim 1, which is characterized in that the Rotatable bracket by hole with
The body perforation, the Rotatable bracket are shunk and are expanded respectively by being arranged on the pneumatic element at the hole.
7. pipe robot detection device according to claim 6, which is characterized in that further include：Pressure chamber and power push away
Into device；
The pressure chamber is connect with the Powered Propulsion device, and the pressure chamber is connect by piston with the pneumatic element.
8. pipe robot detection device according to claim 7, which is characterized in that pressure is set in the pressure chamber
Sensor, for detecting the pressure that the pressure chamber is supplied to the Rotatable bracket.
9. pipe robot detection device according to claim 7, which is characterized in that the Powered Propulsion device includes：
Propeller and motor.
10. pipe robot detection device according to claim 1, which is characterized in that set on the body multiple
Shifting roller, for being moved in the pipeline.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721527596.6U CN207539531U (en) | 2017-11-15 | 2017-11-15 | A kind of pipe robot detection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721527596.6U CN207539531U (en) | 2017-11-15 | 2017-11-15 | A kind of pipe robot detection device |
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| CN207539531U true CN207539531U (en) | 2018-06-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107740907A (en) * | 2017-11-15 | 2018-02-27 | 珠海深圳清华大学研究院创新中心 | A kind of pipe robot detection means and pipeline fault detection method |
-
2017
- 2017-11-15 CN CN201721527596.6U patent/CN207539531U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107740907A (en) * | 2017-11-15 | 2018-02-27 | 珠海深圳清华大学研究院创新中心 | A kind of pipe robot detection means and pipeline fault detection method |
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